柔軟関節を持つ直交型ロボット機構の軌道制御

抄録

In this paper, we propose a trajectory tracking control method for Cartesian-type 3 d.o.f. robetic mechanisms with flexible joints. First, the joint elasticity of the mechanism is modeled. Second, for derivation of the equation of motion. the Lagrangian formulation is used. Third, the trajectory controller is established. Then, centreliability of the mechanism is discussed. Lastly, the simulation results are shown.